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ROS 2 with SITL: 'ros2 node list' only shows /ap #6523

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Shekyaga opened this issue Jan 9, 2025 · 1 comment
Open

ROS 2 with SITL: 'ros2 node list' only shows /ap #6523

Shekyaga opened this issue Jan 9, 2025 · 1 comment
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@Ryanf55

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@Shekyaga
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Shekyaga commented Jan 9, 2025 •
edited
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OS:
Ubuntu 22.04 Native

After sourcing ros setup, building sitl package and sourcing the local setup,

#~/arduros_ws$ source /opt/ros/humble/setup.bash
#~/arduros_ws$ colcon build --packages-up-to ardupilot_sitl --allow-overriding ardupilot_msgs ardupilot_sitl
#Starting >>> ardupilot_msgs
#Starting >>> micro_ros_agent
#Finished <<< micro_ros_agent [0.09s]
#Finished <<< ardupilot_msgs [0.30s]                     
#Starting >>> ardupilot_sitl
#Finished <<< ardupilot_sitl [4.58s]                     
#
#Summary: 3 packages finished [5.36s]
#~/arduros_ws$ source ./install/setup.bash

I run ros2 launch ardupilot_sitl sitl_dds_udp.launch.py transport:=udp4 synthetic_clock:=True wipe:=False model:=quad speedup:=1 slave:=0 instance:=0 defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_udp.parm sim_address:=127.0.0.1 master:=tcp:127.0.0.1:5760 sitl:=127.0.0.1:5501

Then it launch:

[INFO] [launch]: All log files can be found below /home/USER/.ros/log/2025-01-09-13-22-09-847882-mft-22731
[INFO] [launch]: Default logging verbosity is set to INFO
namespace:        
transport:        udp4
middleware:       dds
verbose:          4
discovery:        7400
port:             2019
command:          arducopter
model:            quad
speedup:          1
slave:            0
sim_address:      127.0.0.1
instance:         0
defaults:         /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
synthetic_clock:  True
command:          mavproxy.py
master:           tcp:127.0.0.1:5760
sitl:             127.0.0.1:5501
out:              127.0.0.1:14550
console:          False
map:              False
[INFO] [micro_ros_agent-1]: process started with pid [22732]
[INFO] [dds_udp.parm --synthetic-clock -2]: process started with pid [22734]
[INFO] [mavproxy.py -3]: process started with pid [22736]
[dds_udp.parm --synthetic-clock -2] Setting SIM_SPEEDUP=1.000000
[dds_udp.parm --synthetic-clock -2] Suggested EK3_DRAG_BCOEF_* = 17.209, EK3_DRAG_MCOEF = 0.209
[dds_udp.parm --synthetic-clock -2] Starting sketch 'ArduCopter'
[dds_udp.parm --synthetic-clock -2] Starting SITL input
[dds_udp.parm --synthetic-clock -2] Using Irlock at port : 9005
[dds_udp.parm --synthetic-clock -2] Waiting for connection ....
[dds_udp.parm --synthetic-clock -2] bind port 5760 for SERIAL0
[dds_udp.parm --synthetic-clock -2] SERIAL0 on TCP port 5760
[micro_ros_agent-1] [1736418129.880045] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 2019
[micro_ros_agent-1] [1736418129.880172] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[dds_udp.parm --synthetic-clock -2] Connection on serial port 5760
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] bind port 5762 for SERIAL1
[dds_udp.parm --synthetic-clock -2] SERIAL1 on TCP port 5762
[dds_udp.parm --synthetic-clock -2] bind port 5763 for SERIAL2
[dds_udp.parm --synthetic-clock -2] SERIAL2 on TCP port 5763
[dds_udp.parm --synthetic-clock -2] Home: -35.363262 149.165237 alt=584.000000m hdg=353.000000
[dds_udp.parm --synthetic-clock -2] Smoothing reset at 0.001
[dds_udp.parm --synthetic-clock -2] validate_structures:514: Validating structures
[dds_udp.parm --synthetic-clock -2] Waiting for internal clock bits to be set (current=0x00)
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[mavproxy.py -3] Connect tcp:127.0.0.1:5760 source_system=255
[mavproxy.py -3] Log Directory: 
[mavproxy.py -3] Telemetry log: mav.tlog
[mavproxy.py -3] Waiting for heartbeat from tcp:127.0.0.1:5760
[mavproxy.py -3] AP: Calibrating barometer
[mavproxy.py -3] Detected vehicle 1:1 on link 0
[mavproxy.py -3] online system 1
[mavproxy.py -3] STABILIZE> Mode STABILIZE
[mavproxy.py -3] AP: ArduCopter V4.7.0-dev (20c77ae7)
[mavproxy.py -3] AP: 82bd8a6572074654a669ec6868b865e9
[mavproxy.py -3] AP: Frame: QUAD/PLUS
[mavproxy.py -3] AP: Barometer 1 calibration complete
[mavproxy.py -3] AP: Barometer 2 calibration complete
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/USER/arduros_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[micro_ros_agent-1] [1736418132.451281] info     | Root.cpp           | create_client            | create                 | client_key: 0xAAAABBBB, session_id: 0x81
[micro_ros_agent-1] [1736418132.451374] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0xAAAABBBB, address: 127.0.0.1:38293
[mavproxy.py -3] Init Gyro**Received 1376 parameters (ftp)
[mavproxy.py -3] Saved 1376 parameters to mav.parm
[mavproxy.py -3] 
[mavproxy.py -3] AP: ArduPilot Ready
[mavproxy.py -3] AP: AHRS: DCM active
[mavproxy.py -3] AP: DDS: Init complete
[micro_ros_agent-1] [1736418132.466460] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0xAAAABBBB, participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.466849] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x000(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.466970] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x000(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.467547] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[micro_ros_agent-1] [1736418132.467804] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x001(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.467860] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x001(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.468265] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x001(5), publisher_id: 0x001(3)
[micro_ros_agent-1] [1736418132.468424] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x002(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.468461] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x002(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.468752] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x002(5), publisher_id: 0x002(3)
[micro_ros_agent-1] [1736418132.468946] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x003(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.469018] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x003(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.469495] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x003(5), publisher_id: 0x003(3)
[micro_ros_agent-1] [1736418132.469674] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x004(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.469754] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x004(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.470081] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x004(5), publisher_id: 0x004(3)
[micro_ros_agent-1] [1736418132.470199] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x005(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.470236] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x005(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.470510] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x005(5), publisher_id: 0x005(3)
[micro_ros_agent-1] [1736418132.470626] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x006(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.470679] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x006(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.470965] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x006(5), publisher_id: 0x006(3)
[micro_ros_agent-1] [1736418132.471230] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x007(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.471278] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x007(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.471688] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x007(5), publisher_id: 0x007(3)
[micro_ros_agent-1] [1736418132.471948] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x008(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.472008] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x008(3), participant_id: 0x001(1)
[mavproxy.py -3] AP: DDS: Topic/Pub/Writer session pass for index '0'
[micro_ros_agent-1] [1736418132.472392] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x008(5), publisher_id: 0x008(3)
[micro_ros_agent-1] [1736418132.472561] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x009(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.472617] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x009(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.472939] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x009(5), publisher_id: 0x009(3)
[micro_ros_agent-1] [1736418132.473085] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x00A(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.473138] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x00A(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.473512] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x00A(5), publisher_id: 0x00A(3)
[micro_ros_agent-1] [1736418132.473672] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x00B(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.473723] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x00B(3), participant_id: 0x001(1)
[mavproxy.py -3] AP: DDS: Topic/Pub/Writer session pass for index '1'
[micro_ros_agent-1] [1736418132.474023] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x00B(5), publisher_id: 0x00B(3)
[micro_ros_agent-1] [1736418132.474329] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x00C(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.474447] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x00C(3), participant_id: 0x001(1)
[mavproxy.py -3] AP: DDS: Topic/Pub/Writer session pass for index '2'
[micro_ros_agent-1] [1736418132.474980] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x00C(5), publisher_id: 0x00C(3)
[micro_ros_agent-1] [1736418132.475130] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x00D(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.475195] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0xAAAABBBB, subscriber_id: 0x00D(4), participant_id: 0x001(1)
[mavproxy.py -3] AP: DDS: Topic/Pub/Writer session pass for index '3'
[micro_ros_agent-1] [1736418132.475572] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0xAAAABBBB, datareader_id: 0x00D(6), subscriber_id: 0x00D(4)
[micro_ros_agent-1] [1736418132.475885] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x00E(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.475946] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0xAAAABBBB, subscriber_id: 0x00E(4), participant_id: 0x001(1)
[mavproxy.py -3] AP: DDS: Topic/Pub/Writer session pass for index '4'
[micro_ros_agent-1] [1736418132.476501] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0xAAAABBBB, datareader_id: 0x00E(6), subscriber_id: 0x00E(4)
[micro_ros_agent-1] [1736418132.476789] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x00F(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.476845] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0xAAAABBBB, subscriber_id: 0x00F(4), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.477303] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0xAAAABBBB, datareader_id: 0x00F(6), subscriber_id: 0x00F(4)
[mavproxy.py -3] AP: DDS: Topic/Pub/Writer session pass for index '5'
[micro_ros_agent-1] [1736418132.477646] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x010(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.477707] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0xAAAABBBB, subscriber_id: 0x010(4), participant_id: 0x001(1)
[micro_ros_agent-1] [1736418132.478145] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0xAAAABBBB, datareader_id: 0x010(6), subscriber_id: 0x010(4)
[mavproxy.py -3] AP: DDS: Topic/Pub/Writer session pass for index '6'
[micro_ros_agent-1] [1736418132.479431] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xAAAABBBB, requester_id: 0x000(7), participant_id: 0x001(1)
[mavproxy.py -3] AP: DDS: Topic/Pub/Writer session pass for index '8'
[micro_ros_agent-1] [1736418132.480704] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xAAAABBBB, requester_id: 0x001(7), participant_id: 0x001(1)
[mavproxy.py -3] AP: DDS: Topic/Pub/Writer session pass for index '9'
[mavproxy.py -3] AP: DDS: Topic/Pub/Writer session pass for index '10'
[micro_ros_agent-1] [1736418132.481985] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xAAAABBBB, requester_id: 0x002(7), participant_id: 0x001(1)
[mavproxy.py -3] AP: DDS: Topic/Pub/Writer session pass for index '11'
[micro_ros_agent-1] [1736418132.483233] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xAAAABBBB, requester_id: 0x003(7), participant_id: 0x001(1)
[mavproxy.py -3] AP: DDS: Topic/Pub/Writer session pass for index '12'
[micro_ros_agent-1] [1736418132.484413] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xAAAABBBB, requester_id: 0x004(7), participant_id: 0x001(1)
[mavproxy.py -3] AP: DDS: Topic/Sub/Reader session pass for index '13'
[micro_ros_agent-1] [1736418132.485615] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xAAAABBBB, requester_id: 0x005(7), participant_id: 0x001(1)
[mavproxy.py -3] AP: DDS: Topic/Sub/Reader session pass for index '14'
[mavproxy.py -3] AP: DDS: Topic/Sub/Reader session pass for index '15'
[mavproxy.py -3] AP: DDS: Topic/Sub/Reader session pass for index '16'
[mavproxy.py -3] AP: DDS: Service/Replier session pass for index '0'
[mavproxy.py -3] AP: DDS: Service/Replier session pass for index '1'
[mavproxy.py -3] AP: DDS: Service/Replier session pass for index '2'
[mavproxy.py -3] AP: DDS: Service/Replier session pass for index '3'
[mavproxy.py -3] AP: DDS: Service/Replier session pass for index '4'
[mavproxy.py -3] AP: DDS: Service/Replier session pass for index '5'
[mavproxy.py -3] AP: DDS: Initialization passed
[mavproxy.py -3] AP: RC7: SaveWaypoint LOW
[mavproxy.py -3] Received 1385 parameters
[mavproxy.py -3] Saved 1376 parameters to mav.parm
[mavproxy.py -3] AP: EKF3 IMU0 initialised
[mavproxy.py -3] AP: EKF3 IMU1 initialised
[mavproxy.py -3] AP: AHRS: EKF3 active
[mavproxy.py -3] AP: EKF3 IMU1 tilt alignment complete
[mavproxy.py -3] AP: EKF3 IMU0 tilt alignment complete
[mavproxy.py -3] AP: EKF3 IMU1 MAG0 initial yaw alignment complete
[mavproxy.py -3] AP: EKF3 IMU0 MAG0 initial yaw alignment complete
[mavproxy.py -3] AP: GPS 1: probing for u-blox at 230400 baud
[mavproxy.py -3] AP: GPS 1: detected u-blox
[mavproxy.py -3] fence present
[mavproxy.py -3] Flight battery 100 percent
[mavproxy.py -3] AP: EKF3 IMU1 origin set
[mavproxy.py -3] AP: Field Elevation Set: 584m
[mavproxy.py -3] AP: EKF3 IMU0 origin set
[mavproxy.py -3] AP: EKF3 IMU0 is using GPS
[mavproxy.py -3] AP: EKF3 IMU1 is using GPS
[mavproxy.py -3] Flight battery 100 percent
[mavproxy.py -3] Flight battery 100 percent
[mavproxy.py -3] Flight battery 100 percent

However, when I check for ros2 node in an other terminal, only list me /ap node

#~$ ros2 node list
#/ap
#~$ ros2 node info /ardupilot_dds
#Unable to find node '/ardupilot_dds'

Following the steps given ArduPilot tutorial

$ export PATH=$PATH:~/arduros_ws/src/ardupilot/Tools/autotest
$ sim_vehicle.py -w -v ArduPlane --console -DG --enable-dds
SIM_VEHICLE: Start
SIM_VEHICLE: Killing tasks
SIM_VEHICLE: Starting up at SITL location
SIM_VEHICLE: WAF build
SIM_VEHICLE: Configure waf
SIM_VEHICLE: "/home/USER/ardupilot/modules/waf/waf-light" "configure" "--board" "sitl" "--debug" "--enable-dds"
Setting top to                           : /home/USER/ardupilot 
Setting out to                           : /home/USER/ardupilot/build 
Autoconfiguration                        : enabled 
Checking for program 'python'            : /usr/bin/python3 
Checking for python version >= 3.6.9     : 3.10.12 
Setting board to                         : sitl 
Using toolchain                          : native 
Checking for 'g++' (C++ compiler)        : /usr/lib/ccache/g++ 
Checking for 'gcc' (C compiler)          : /usr/lib/ccache/gcc 
Checking for c flags '-MMD'              : yes 
Checking for cxx flags '-MMD'            : yes 
CXX Compiler                             : g++ 11.4.0 
Checking for need to link with librt     : not necessary 
Checking for feenableexcept              : yes 
Enabling -Werror                         : yes 
Checking for program 'microxrceddsgen'   : /home/USER/arduros_ws/Micro-XRCE-DDS-Gen/scripts/microxrceddsgen 
Enabled OpenDroneID                      : no 
Enabled firmware ID checking             : no 
GPS Debug Logging                        : no 
Enabled custom controller                : yes 
Checking for HAVE_CMATH_ISFINITE         : yes 
Checking for HAVE_CMATH_ISINF            : yes 
Checking for HAVE_CMATH_ISNAN            : yes 
Checking for NEED_CMATH_ISFINITE_STD_NAMESPACE : yes 
Checking for NEED_CMATH_ISINF_STD_NAMESPACE    : yes 
Checking for NEED_CMATH_ISNAN_STD_NAMESPACE    : yes 
Checking for header endian.h                   : yes 
Checking for header byteswap.h                 : yes 
Checking for HAVE_MEMRCHR                      : yes 
Configured VSCode Intellisense:                : no 
DC_DSDL compiler in                            : /home/USER/ardupilot/modules/DroneCAN/dronecan_dsdlc 
Source is git repository                       : yes 
Update submodules                              : yes 
Checking for program 'git'                     : /usr/bin/git 
Checking for program 'size'                    : /usr/bin/size 
Benchmarks                                     : disabled 
Unit tests                                     : enabled 
Scripting                                      : maybe 
Scripting runtime checks                       : enabled 
Debug build                                    : enabled 
Coverage build                                 : disabled 
Force 32-bit build                             : disabled 
Checking for program 'rsync'                   : /usr/bin/rsync 
Removing target_list file /home/USER/ardupilot/build/sitl/target_list
'configure' finished successfully (0.474s)
{'waf_target': 'bin/arduplane', 'default_params_filename': 'models/plane.parm', 'model': 'plane', 'sitl-port': True}
SIM_VEHICLE: Building
SIM_VEHICLE: "/home/USER/ardupilot/modules/waf/waf-light" "build" "--target" "bin/arduplane"
Waf: Entering directory `/home/USER/ardupilot/build/sitl'
Embedding file locations.txt:Tools/autotest/locations.txt
Embedding file models/Callisto.json:Tools/autotest/models/Callisto.json
Embedding file models/freestyle.json:Tools/autotest/models/freestyle.json
Embedding file models/plane-3d.parm:Tools/autotest/models/plane-3d.parm
Embedding file models/plane.parm:Tools/autotest/models/plane.parm
Embedding file models/xplane_heli.json:Tools/autotest/models/xplane_heli.json
Embedding file models/xplane_plane.json:Tools/autotest/models/xplane_plane.json
building /home/USER/ardupilot/build/sitl/modules/Micro-XRCE-DDS-Client/include/uxr/client/config.h
building /home/USER/ardupilot/build/sitl/modules/Micro-CDR/include/ucdr/config.h
No target_list file found, creating
Generating compile_commands.json
Build commands will be stored in build/sitl/compile_commands.json
Generating compile_commands.json
Build commands will be stored in build/sitl/compile_commands.json
[1461/1462] Linking build/sitl/bin/arduplane
[1462/1462] checking symbols build/sitl/bin/arduplane
Waf: Leaving directory `/home/USER/ardupilot/build/sitl'

BUILD SUMMARY
Build directory: /home/USER/ardupilot/build/sitl
Target         Text (B)  Data (B)  BSS (B)  Total Flash Used (B)  Free Flash (B)  External Flash Used (B)
---------------------------------------------------------------------------------------------------------
bin/arduplane   5529986    209352   309984               5739338  Not Applicable  Not Applicable         

'build' finished successfully (3.294s)
SIM_VEHICLE: Using defaults from (ardupilot/Tools/autotest/models/plane.parm)
SIM_VEHICLE: Run ArduPlane (gdb)
SIM_VEHICLE: "/home/USER/ardupilot/Tools/autotest/run_in_terminal_window.sh" "ArduPlane (gdb)" "gdb" "-x" "/tmp/tmpgxzq3p7p" "--args" "/home/USER/ardupilot/build/sitl/bin/arduplane" "-S" "-w" "--model" "plane" "--speedup" "1" "--slave" "0" "--defaults" "ardupilot/Tools/autotest/models/plane.parm" "--sim-address=127.0.0.1" "-I0"
SIM_VEHICLE: Run MavProxy
SIM_VEHICLE: "mavproxy.py" "--out" "127.0.0.1:14550" "--master" "tcp:127.0.0.1:5760" "--sitl" "127.0.0.1:5501" "--console"
RiTW: Starting ArduPlane (gdb) : gdb -x /tmp/tmpgxzq3p7p --args /home/USER/ardupilot/build/sitl/bin/arduplane -S -w --model plane --speedup 1 --slave 0 --defaults ardupilot/Tools/autotest/models/plane.parm --sim-address=127.0.0.1 -I0
Connect tcp:127.0.0.1:5760 source_system=255
Loaded module console
Log Directory: 
Telemetry log: mav.tlog
Waiting for heartbeat from tcp:127.0.0.1:5760
MAV> param set DDS_ENABLE 1
MAV> Unable to find parameter 'DDS_ENABLE'

tried to change params from mavproxy panel but the parameters was not existed. Checking dds_udp.parm:
DDS_ENABLE 1
DDS_UDP_PORT 2019

I cannot find the reason of the problem.

Note: my ROS_DOMAIN_IS is 0:

#~$ echo $ROS_DOMAIN_ID
#0
@Shekyaga
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Shekyaga commented Jan 9, 2025

Also, as I run mavproxy.py --console --map --aircraft test --master=:14550, ardupilot sitl and sim_vehicle.py at the same time, it is connected but not take off.
Mavproxy panel:
takeoff 100
STABILIZE> Take Off started

ardupilot sitl panel:
[mavproxy.py -3] Got COMMAND_ACK: NAV_TAKEOFF: FAILED

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